1P1-B02 旋回クレーンの軌道追従制御と衝突回避軌道の生成

概要

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This paper discussed trajectory generation of rotary crane control based on inverse dynamics. The control based on the inverse dynamics can reduce the sway of the suspended load by giving the desired trajectory of it and making the trajectory tracking. The control input, however, tends to be large in the control based on the inverse dynamics. It is, therefore, necessary to generate the optimal trajectory to reduce the control input. And the suspended load need to avoid the static obstacles exists in a real environment. This paper, thus, discussed trajectory generation of suspended load for rotary crane system to reduce the large control input and avoid static obstacles by a parameterization method using the B-spline function in consideration of static obstacles.
一般社団法人日本機械学会の論文